#ifndef _ADAFRUIT_16CH_Servo_H
#define _ADAFRUIT_16CH_Servo_H

#if ARDUINO >= 100
 #include "Arduino.h"
#else
 #include "WProgram.h"
#endif

#include <Adafruit_PWMServoDriver.h>

#define ADA16SV_DEFAULT_CENTER_PULSE_WIDTH	(1520.0)
#define ADA16SV_DEFAULT_MIN_PULSE_WIDTH		(720.0)
#define ADA16SV_DEFAULT_MAX_PULSE_WIDTH		(2320.0)

class Adafruit_16ch_Servo : public Adafruit_PWMServoDriver
{
public:
	void initialize();
	void setCenterPulseWidth(int ch, double width);
	void setMinPulseWidth(int ch, double width);
	void setMaxPulseWidth(int ch, double width);
	void setServoPosition(int ch, double position);

private:
	double center_pulse_width[16];
	double min_pulse_width[16];
	double max_pulse_width[16];
};

#endif

